Fast and robust anchor calibration in range-based wireless localization

In this paper we investigate the anchor calibration problem where we want to find the anchor positions when the anchors are not able to range between each other. This is a problem of practical interest because in many systems, the anchors are not connected in a network but are just simple responders to range requests. The proposed calibration method is designed to be fast and simple using only a single range-capable device. For the estimation of the inter-anchor distances, we propose a Total Least Squares estimator as well as a L1 norm estimator. Real life experiments using publicly available hardware validate the proposed calibration technique and show the robustness of the algorithm to non-line-of-sight measurements

Bayesian CRLB for hybrid ToA and DoA based wireless localization with anchor uncertainty

In this paper, we derive the Bayesian Cramér-Rao lower bound for three dimensional hybrid localization using time-of-arrival (ToA) and direction-of-arrival (DoA) types of measurements. Unlike previous works, we include the practical constraint that the anchor position is not known exactly but rather up to some error. The resulting bound can be used for error analysis of such a localization system or as an optimality criterion for the selection of suitable anchors

On the structural nature of cooperation in distributed network localization

We demonstrate analytically that the contribution of cooperation in improving the accuracy of distributed network localization has a fundamentally structural nature, rather then statistical as widely believed. To this end we first introduce a new approach to build Fisher Information Matrices (FIMs), in which the individual contribution of each cooperative pair of nodes is captured explicitly by a corresponding information vector. The approach offers new insight onto the structure of FIMs, enabling us to easily account for both anchor and node location uncertainties in assessing lower bounds on localization errors. Using this construction it is surprisingly found that in the presence of node location uncertainty and regardless of ranging error variances or network size, the Fisher information matrix (FIM) terms corresponding to the information added by node-to-node cooperation nearly vanish. In other words, the analysis reveals that the key contribution of cooperation in network localization is not to add statistical node-to-node information (in the Fisher sense), but rather to provide a structure over which information is better exploited

Frame theory and optimal anchor geometries in wireless localization

We revisit the problem of describing optimal anchor geometries that result in the minimum achievable MSE by employing the Cramer Rao Lower bound. Our main contribution is to show that this problem can be cast onto the whelm of modern Frame Theory, which not only provides new insights, but also allows the straightforward generalization of various classical results for the anchor placement problem. For example, by employing the frame potential for single-target localization, we see that the directions of the anchors, as seen from the target, should optimally be as orthogonal as possible, and that the existence of an optimal geometry for an arbitrary number of anchors is governed by the fundamental inequality in frame theory. Furthermore, the frame-theoretic approach allows for the simple derivation of some properties on optimal anchor placement that prove to be useful in a tractable approach for the more complex, multi-target anchor placement problem. In a more general sense, the paper builds a refreshing bridge between the classical problem of wireless localization and the powerful domain of Frame Theory, with far-reaching potential

Analysis of the scalability of UWB indoor localization solutions for high user densities

Radio frequency (RF) technologies are often used to track assets in indoor environments. Among others, ultra-wideband (UWB) has constantly gained interest thanks to its capability to obtain typical errors of 30 cm or lower, making it more accurate than other wireless technologies such as WiFi, which normally can predict the location with several meters accuracy. However, mainly due to technical requirements that are part of the standard, conventional medium access strategies such as clear channel assessment, are not straightforward to implement. Since most scientific papers focus on UWB accuracy improvements of a single user, it is not clear to which extend this limitation and other design choices impact the scalability of UWB indoor positioning systems. We investigated the scalability of indoor localization solutions, to prove that UWB can be used when hundreds of tags are active in the same system. This paper provides mathematical models that calculate the theoretical supported user density for multiple localization approaches, namely Time Difference of Arrival (TDoA) and Two-Way Ranging (TWR) with different MAC protocol combinations, i.e., ALOHA and TDMA. Moreover, this paper applies these formulas to a number of realistic UWB configurations to study the impact of different UWB schemes and settings. When applied to the 802.15.4a compliant Decawave DW1000 chip, the scalability dramatically degrades if the system operates with uncoordinated protocols and two-way communication schemes. In the best case scenario, UWB DW1000 chips can actively support up to 6171 tags in a single domain cell (no handover) with well-selected settings and choices, i.e., when adopting the combination of TDoA (one-way link) and TDMA. As a consequence, UWB can be used to simultaneously localize thousands of nodes in a dense network. However, we also show that the number of supported devices varies greatly depending on the MAC and PHY configuration choices

Human mobility monitoring in very low resolution visual sensor network

This paper proposes an automated system for monitoring mobility patterns using a network of very low resolution visual sensors (30 30 pixels). The use of very low resolution sensors reduces privacy concern, cost, computation requirement and power consumption. The core of our proposed system is a robust people tracker that uses low resolution videos provided by the visual sensor network. The distributed processing architecture of our tracking system allows all image processing tasks to be done on the digital signal controller in each visual sensor. In this paper, we experimentally show that reliable tracking of people is possible using very low resolution imagery. We also compare the performance of our tracker against a state-of-the-art tracking method and show that our method outperforms. Moreover, the mobility statistics of tracks such as total distance traveled and average speed derived from trajectories are compared with those derived from ground truth given by Ultra-Wide Band sensors. The results of this comparison show that the trajectories from our system are accurate enough to obtain useful mobility statistics

New fluoroscopic imaging technique for investigation of 6DOF knee kinematics during treadmill gait

<p>Abstract</p> <p>Introduction</p> <p>This report presents a new imaging technique for non-invasive study of six degrees of freedom (DOF) knee kinematics during treadmill gait.</p> <p>Materials and methods</p> <p>A treadmill was integrated into a dual fluoroscopic imaging system (DFIS) to formulate a gait analysis system. To demonstrate the application of the system, a healthy subject walked on the treadmill at four different speeds (1.5, 2.0, 2.5 and 3.0 MPH) while the DFIS captured the knee motion during three strides under each speed. Characters of knee joint motion were analyzed in 6DOF during the treadmill walking.</p> <p>Results</p> <p>The speed of the knee motion was lower than that of the treadmill. Flexion amplitudes increased with increasing walking speed. Motion patterns in other DOF were not affected by increase in walking speed. The motion character was repeatable under each treadmill speed.</p> <p>Conclusion</p> <p>The presented technique can be used to accurately measure the 6DOF knee kinematics at normal walking speeds.</p

Life-Course Genome-wide Association Study Meta-analysis of Total Body BMD and Assessment of Age-Specific Effects.

Bone mineral density (BMD) assessed by DXA is used to evaluate bone health. In children, total body (TB) measurements are commonly used; in older individuals, BMD at the lumbar spine (LS) and femoral neck (FN) is used to diagnose osteoporosis. To date, genetic variants in more than 60 loci have been identified as associated with BMD. To investigate the genetic determinants of TB-BMD variation along the life course and test for age-specific effects, we performed a meta-analysis of 30 genome-wide association studies (GWASs) of TB-BMD including 66,628 individuals overall and divided across five age strata, each spanning 15 years. We identified variants associated with TB-BMD at 80 loci, of which 36 have not been previously identified; overall, they explain approximately 10% of the TB-BMD variance when combining all age groups and influence the risk of fracture. Pathway and enrichment analysis of the association signals showed clustering within gene sets implicated in the regulation of cell growth and SMAD proteins, overexpressed in the musculoskeletal system, and enriched in enhancer and promoter regions. These findings reveal TB-BMD as a relevant trait for genetic studies of osteoporosis, enabling the identification of variants and pathways influencing different bone compartments. Only variants in ESR1 and close proximity to RANKL showed a clear effect dependency on age. This most likely indicates that the majority of genetic variants identified influence BMD early in life and that their effect can be captured throughout the life course

Consensus guidelines for the use and interpretation of angiogenesis assays

The formation of new blood vessels, or angiogenesis, is a complex process that plays important roles in growth and development, tissue and organ regeneration, as well as numerous pathological conditions. Angiogenesis undergoes multiple discrete steps that can be individually evaluated and quantified by a large number of bioassays. These independent assessments hold advantages but also have limitations. This article describes in vivo, ex vivo, and in vitro bioassays that are available for the evaluation of angiogenesis and highlights critical aspects that are relevant for their execution and proper interpretation. As such, this collaborative work is the first edition of consensus guidelines on angiogenesis bioassays to serve for current and future reference